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Commit Graph

179 Commits

Author SHA1 Message Date
Stacey Sheldon
2f86e4dd4f Make PWM/PPM and Servo drivers play nicely together
PWM and PPM can now coexist in the same load and be
selected at boot time via the hwsettings UAVObject.

This is basically a complete restructuring of the
way the drivers interact with the TIM peripheral in
the STM32.

As a side effect, the PWM and PPM drivers are now
ready to support multiple instances of each.

This also provides the first step toward being able
to reassign some of the PWM input pins to be servo
output pins.  Still more work required, but this is
a good start.
2011-08-27 21:39:56 -04:00
James Cotton
c5746335c6 Initialize GCSReceiver object if it is being used 2011-08-27 15:57:09 -05:00
James Cotton
dc340596f5 Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG
Conflicts:
	flight/CopterControl/Makefile
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/UAVObjects.inc
	flight/PiOS/STM32F10x/pios_spektrum.c
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadget.qrc
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
2011-08-27 15:26:05 -05:00
James Cotton
274333a9bf Merge branch 'next' into stac/use-malloc-failed-hook 2011-08-27 00:12:45 -05:00
James Cotton
5f7a9b513a Merge branch 'sambas/dsmx_stuff' of ssh://git.openpilot.org/OpenPilot into next
Conflicts:
	shared/uavobjectdefinition/hwsettings.xml
2011-08-24 11:37:30 -05:00
Stacey Sheldon
edc0caf521 heap: set memory critical alarm on malloc failures
Activate the FreeRTOS malloc failed hook and use it
to set the memory critical alarm.
2011-08-21 23:14:32 -04:00
James Cotton
86b652bbab Merge branch 'next' into camera_stabilization 2011-08-14 18:07:57 -05:00
zedamota
e736b17cc4 Merge remote-tracking branch 'remotes/origin/next' into GCS_ChangesToUI-RuntimeCFG
Conflicts:
	ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
	ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
	ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
2011-08-14 15:48:16 +01:00
James Cotton
f766ba47aa Increase the size of the eventdispatcher task and lower the maximum queue size. 2011-08-13 19:21:58 -05:00
James Cotton
9c7799dfe6 UAVObject Init: Get rid of deprecated linker init code 2011-08-10 22:48:42 -05:00
James Cotton
f11aa80444 CameraStabilization: Make the CameraStabilization module put the desired
position into another object (will help with configuration).
2011-08-09 20:45:38 -05:00
sambas
1e67b5e3b5 DSMx_binder, hw setting 0 disabled, 1-10 bind pulses. Manual disable after successful bind. Only for flexiport. 2011-08-06 22:16:47 +03:00
James Cotton
a592e7d398 ManualControlSettings must be also initialized in pios_board.c 2011-08-04 07:47:50 -05:00
Stacey Sheldon
90b2625deb rcvractivity: Add tracking of Rx channel activity 2011-08-02 01:27:37 -04:00
Stacey Sheldon
06cdeb7b61 rcvr: support multiple simultaneous receivers
Now also supports multiple instances of the Spektrum driver.
These are configured as Spektrum1 and Spektrum2.
2011-08-02 01:22:04 -04:00
Stacey Sheldon
829b8b83f6 rcvr: Add GCS receiver driver for rcvr via telemetry
This allows the GCS to emulate a receiver device via the
telemetry link.

Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.

Note: The expected values for the channels are in microseconds
      just like a PWM or PPM input device.  The channel values
      are validated against minimum/maximum pulse lengths just
      like normal receivers.
2011-08-02 01:22:04 -04:00
James Cotton
035b4103c4 Need to initialize the HwSettings before using them. 2011-07-31 09:42:15 +09:00
James Cotton
3df730c64f Merge branch 'stac/refactor-usart-com' into camera_stabilization 2011-07-30 13:38:43 +09:00
James Cotton
387a22398e Make it possible to optionally enable the CameraStab module 2011-07-30 12:08:47 +09:00
Stacey Sheldon
8c0b60099f rcvr: don't init spektrum and sbus rcvrs twice 2011-07-29 22:59:50 -04:00
James Cotton
132e19d613 Change the makefiles - always compile the optional objects but the flag
indicates whether they are registered
2011-07-30 11:29:29 +09:00
James Cotton
ae67c51632 Register some missing objects with their modules 2011-07-30 11:28:21 +09:00
James Cotton
2e5a36a4db Merge branch 'stac/refactor-usart-com' into camera_stabilization 2011-07-30 10:55:16 +09:00
James Cotton
b2d2114ede Disable auto registration of all objects. Later the uavobj_init linker scripts
should be deleted to not carry around old code.
2011-07-30 10:24:46 +09:00
James Cotton
23e9b56839 Dos2unix flight/CopterControl/System/coptercontrol.c 2011-07-30 10:06:35 +09:00
James Cotton
96c2d24253 Merge branch 'next' into camera_stabilization
Conflicts:
	flight/CopterControl/Makefile
	flight/CopterControl/System/coptercontrol.c
	flight/Modules/Actuator/actuator.c
	flight/Modules/GPS/GPS.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
	flight/Modules/System/systemmod.c
	shared/uavobjectdefinition/manualcontrolsettings.xml
	shared/uavobjectdefinition/stabilizationdesired.xml
2011-07-30 10:06:10 +09:00
Stacey Sheldon
c2fb0d8b43 com: allow run-time allocation of buffers 2011-07-29 15:33:14 -04:00
Stacey Sheldon
5f8760a55c com: Move buffering out of USART/HID layer and into COM layer
This allows the spektrum and sbus receiver drivers to bind
directly to the usart layer using a properly exported API
rather than overriding the interrupt handler.

Bytes are now pushed directly from the usart layer into the
com layer without any buffering.  The com layer performs all
of the buffering.

A further benefit from this approach is that we can put all
blocking/non-blocking behaviour into the COM layer and not
in the underlying drivers.

Misc related changes:
 - Remove obsolete .handler field from irq configs
 - Adapt all users of PIOS_COM_* functions to new API
 - Fixup callers of PIOS_USB_HID_Init()
2011-07-27 19:45:38 -04:00
Stacey Sheldon
8dbace5ee2 Merge branch 'rcvr_mem_reduction'
Conflicts:
	flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
2011-07-17 17:14:40 -04:00
James Cotton
d41260d54c Make the stabilization settings query correctly now by increasing the TX buffer
on the CC side to 256 bytes instead of 128 to support large objects (max object
size is 256 bytes)
2011-07-15 10:40:21 -05:00
Stacey Sheldon
6580462916 rcvr: specify drivers for groups of channels
Each channel was previously tracking a separate driver.
Now, channels are grouped within a channel group to save
RAM used for tracking and to better reflect how channels
are actually mapped.
2011-07-14 23:22:42 -04:00
sambas
18a5465246 Bugfix: CC flexiport spektrum config
Working spektrum bind routine, depending your TX try BIND_PULSES 3,5,7,9 (5 works with DX7)
Boot process takes too long on MB so bind command misses the window (20-140ms).
2011-07-14 14:43:26 +03:00
James Cotton
2fe7ee40b1 Merge branch 'OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint' 2011-07-12 12:44:59 -05:00
James Cotton
15a2b85729 For OpenPilot use the minimal stack size (512 words) for eventdispatcher as
this is necessary for object saving.  Creating a new define to override this
for CopterControl down to 96.
2011-07-12 12:34:40 -05:00
Mathieu Rondonneau
d38f6167e3 OP-423:
Also reduce heap has it does not fit in SRAM anymore (not with current compiler).
(that's ok since if there is more space available, it will be reclaimed).

Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint

Conflicts:
	flight/CopterControl/System/inc/pios_config.h
	flight/Modules/ManualControl/manualcontrol.c
2011-07-08 06:29:34 -07:00
Stacey Sheldon
b86ef4de82 bootcfg: fix incorrect bounds checking on rcvr registration
This was preventing any receivers from registering their
channels.
2011-07-07 23:59:12 -04:00
Stacey Sheldon
1f004ee896 ppm: port PPM driver onto new CC driver layers
This is a port of a work-in-progress by Sambas onto
the new driver infrastructure needed for boot-time
configuration.

PPM and PWM still don't coexist in a build but this
is closer.
2011-07-07 22:27:57 -04:00
Stacey Sheldon
226f095a2e bootcfg: remove baudrate #defines for USARTs
The initial baud rates of each interface are now forced in the
board init code.

Any modules using USARTs should have fields added to
their settings object to allow the user to change the
baud rate from the default by using the COM layer APIs.

Developers requiring custom baud rates before the settings
objects are in place should locally edit the cfg structs
to specify the desired baud rates.
2011-07-06 23:03:54 -04:00
Stacey Sheldon
a8787ee015 bootcfg: Add support for selecting S.Bus receivers in inputtype 2011-07-06 22:38:23 -04:00
Stacey Sheldon
bf39ab7a22 remove left-over comment about compile time configs
No functional changes.
2011-07-06 22:36:15 -04:00
Stacey Sheldon
e82539c654 bootcfg: additional validation during board init 2011-07-06 22:34:59 -04:00
Stacey Sheldon
dbf7574946 bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.

Minor changes in board initialization for all platforms:
 - Most config structs are marked static to prevent badly written
   drivers from directly referring to config data.
 - Adapt to changes in .irq fields in config data.
 - Adapt to changes in USART IRQ handling.

Major changes in board initialization for CC:
 - Use HwSettings UAVObj to decide which drivers to attach to
   the "main" port and the flexi port, and select the appropriate
   device configuration data.
 - HwSettings allows choosing between Disabled, Telemetry, SBUS,
   Spektrum,GPS, and I2C for each of the two ports.
 - Use ManualControlSettings.InputMode to init/configure the
   appropriate receiver module, and register its available rx channels
   with the PIOS_RCVR layer.  Can choose between PWM, Spektrum and PPM
   at board init time.  PPM driver is broken, and SBUS will work once
   it is added to this UAVObj as an option.
 - CC build now includes code for SBUS, Spektrum and PWM receivers in
   every firmware image.

PIOS_USART driver:
 - Now handles its own low-level IRQs internally
 - If NULL upper-level IRQ handler is bound in at board init time
   then rx/tx is satisfied by internal PIOS_USART buffered IO routines
   which are (typically) attached to the COM layer.
 - If an alternate upper-level IRQ handler is bound in at board init
   then that handler is called and expected to clear down the USART
   IRQ sources.  This is used by Spektrum and SBUS drivers.

PIOS_SBUS and PIOS_SPEKTRUM drivers:
 - Improved data/API hiding
 - No longer assume they know where their config data is stored which
   allows for boot-time alternate configurations for the driver.
 - Now registers an upper-level IRQ handlerwith the USART layer to
   decouple the driver from which USART it is actually attached to.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
6415fc84a5 rtc: allow registration of callbacks on RTC tick
This separates the RTC device and interrupt handling
from the devices that rely on the tick notifications.

Drivers can now register tick notification functions
that will be called on each RTC tick event.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
740b5f1584 rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR
All receivers now fall under the same driver API provided
by pios_rcvr.c.

This is part of a larger sequence of commits that will
switch the receiver selection over to boot time dynamic
configuration via UAVObjects.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
0c4facac46 heap: reduce stack size on IDLE and Event tasks
The FreeRTOS IDLE task was using 512 bytes of stack.
The UAVObject Event task was also using 512 bytes of stack.

Both have been reduced, recovering 400+ bytes of heap.
2011-07-05 20:13:00 -04:00
Mathieu Rondonneau
b3740ec025 OP-423: Clean startup and add weak function call for stack swap. 2011-07-03 12:43:38 -07:00
Corvus Corax
fc62f6e522 Module initialisation rework ported to PiOS.posix 2011-06-26 00:25:06 +02:00
Mathieu Rondonneau
6683ce8570 OP-423: Make it more obvious that MODULE_TASKCREATE_ALL and MODULE_INITIALIZE_ALL are macro (for now):
- remove the ;
  - also encapsulate the macro by {} in his own scope.
2011-06-25 11:40:01 -07:00
Mathieu Rondonneau
dcd2774103 OP-423 Fix some comment from code review:
- update example module
- use module init macro for POSIX and WIN to make code cleaner.
2011-06-24 06:59:51 -07:00
James Cotton
493fcaef2a OP-193 OP-511: Add settings to scale the camera input output range 2011-06-23 00:47:27 -05:00